Mitsubishi MELFA CR1QA-700, Special Specifications Manual

Page: 31 / 146

２ Robot arm
Outside dimensions ・ Operating range diagram 2-20
Fig.2-6 ： Operating range diagram: (5-axis type)
P
R3
01
R
641
318
232
450
R223
R546
R3
01
R301
13
5°
10
0°
137
°
R33
9
90°
R2
45
R64
1
170°
170°
R3
19
R2
03
32
2
10
9
P-point path (solid line)
The range which
P-point cannot enter
31
2
330
Flange downward limit line
(dotted line)
P-point path (solid line)
Restriction on wide angle
in the rear section
Note2)
Restriction on wide angle
in the front section
Note1)
The range which
P-point cannot enter
<Restriction on wide angle in the front section>
Note1) If the angle of axis J1 is 170 degree ＞ | J1 | ＞ 125 degree,
the operating range of axis J2 is limited to 120 degree ＞ J2 ＞ -90 degree.
<Restriction on wide angle in the rear section>
Note2) If the angle of axis J2 is -30 degree ＞ J2 ≧ -90 degree,
the operating range of axis J3 is limited to a range
that satisfies both 14 x J2 + 9 x J3 ＞ -1530 and 137 degree ＞ J3 ＞ -100 degree.